Self-navigation in crowded environments poses a significant challenge for multi-agent systems with non-holonomic robots relying on local sensing. The talk covers a fast, sensor-driven navigation controller that computes control commands for safe maneuvering among non-cooperating agents. Our approach introduces an input-constrained feedback controller specifically designed for non-holonomic robots, with a focus on invariant sets to ensure stability and safety. These invariant sets guide the robots toward their target while allowing for direct computation of safe control inputs, eliminating the need for pre-planned paths. Speaker(s): Leena Vachhani, Virtual: https://events.vtools.ieee.org/m/441459